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/*
 * testpru
 *
 */

#define PRU1

#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>

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HAL_BOARD=HAL_BOARD_LINUX TOOLCHAIN=NATIVE EXTRAFLAGS=-DGIT_VERSION="53268c31"
building /tmp/ArduCopter.build/ArduCopter.cpp
%% ArduCopter.cpp
make: *** No rule to make target `/root/beaglepilot/libraries/AP_Notify/ToshibaLED_VRBRAIN.h', needed by `/tmp/ArduCopter.build/ArduCopter.o'.  Stop.

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%% libraries/AP_HAL_AVR/utility/pins_arduino_mega.o
arm-linux-gnueabihf-gcc-4.7 -g -D_GNU_SOURCE -DF_CPU= -DSKETCH=\"INS_generic\" -DSKETCHNAME="\"INS_generic\"" -DAPM_BUILD_DIRECTORY=APM_BUILD_INS_generic -DGIT_VERSION="\"318ea98b\""  -DCONFIG_HAL_BOARD=HAL_BOARD_LINUX -DCONFIG_HAL_BOARD_SUBTYPE=HAL_BOARD_SUBTYPE_LINUX_PXF -Wa, -O0 -Wformat -Wall -Wshadow -Wpointer-arith -Wcast-align -Wno-unused-parameter -Wno-missing-field-initializers -Wwrite-strings -Wformat=2 -MD -MT /tmp/INS_generic.build/libraries/AP_HAL_AVR/utility/pins_arduino_mega.o -ffunction-sections -fdata-sections -fsigned-char -c -o /tmp/INS_generic.build/libraries/AP_HAL_AVR/utility/pins_arduino_mega.o /media/psf/Home/Documents/Programming/beaglepilot/libraries/AP_HAL_AVR/utility/pins_arduino_mega.c -I/media/psf/Home/Documents/Programming/beaglepilot/libraries/AP_HAL_AVR/utility//utility -I/media/psf/Home/Documents/Programming/beaglepilot/libraries/AP_InertialSensor/examples/INS_generic -I/media/psf/Home/Documents/Programming/beaglepilot/libra

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spi@48030000 {
			compatible = "ti,omap4-mcspi";
			#address-cells = <0x1>;
			#size-cells = <0x0>;
			reg = <0x48030000 0x400>;
			interrupts = <0x41>;
			ti,spi-num-cs = <0x2>;
			ti,hwmods = "spi0";
			dmas = <0x7 0x10 0x7 0x11 0x7 0x12 0x7 0x13>;
			dma-names = "tx0", "rx0", "tx1", "rx1";

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APM: PERF: 0/1000 9730


Scheduler overrun task[15] (21/20)

Scheduler overrun task[5] (33/10)

Scheduler overrun theight -10
APM: PERF: 0/1000 9484

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APM: PERF: 0/4000 2968


height -20
APM: PERF: 0/4000 2981


height -10
APM: PERF: 0/4000 2939

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APM: PERF: 0/4000 2649


height -10
APM: PERF: 0/4000 2704


APM: PERF: 0/4000 2668

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U-Boot SPL 2013.04-dirty (Jul 10 2013 - 14:02:53)
musb-hdrc: ConfigData=0xde (UTMI-8, dyn FIFOs, HB-ISO Rx, HB-ISO Tx, SoftConn)
musb-hdrc: MHDRC RTL version 2.0        
musb-hdrc: setup fifo_mode 4            
musb-hdrc: 28/31 max ep, 16384/16384 memory
USB Peripheral mode controller at 47401000 using PIO, IRQ 0
musb-hdrc: ConfigData=0xde (UTMI-8, dyn FIFOs, HB-ISO Rx, HB-ISO Tx, SoftConn)
musb-hdrc: MHDRC RTL version 2.0        
musb-hdrc: setup fifo_mode 4            
musb-hdrc: 28/31 max ep, 16384/16384 memory

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/*
    Levenberg-Marquadt Optimiser for Magnetometer Calibration
                                        by Siddharth Bharat Purohit
Optimiser:      {Transpose(J)*J-l*I}*B=Transpose(J)*F
where: J is the jacobian with respect to parameters to be optimised
       I is the Identity Matrix
       l is a scalar value varying required acting as gradient
       B is set of parameters optimisation is being done for
       F is the force matrix or fitness matrix storing degree of fitness each sample in sample space

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void CompassCalibrator::run_sphere_fit(uint8_t max_iterations)
{
    float fitness = _fitness, prevfitness = _fitness, fit1, fit2;
    sphere_param_t fit_param = _sphere_param, temp_param;
    static float lambda;
    if(lambda == 0){
        lambda =1;
    }

    for(uint8_t iterations=0; iterations<max_iterations; iterations++) {